CN108100639A - It is a kind of to possess the mobile device for efficiently selecting steel framework steel tube - Google Patents
It is a kind of to possess the mobile device for efficiently selecting steel framework steel tube Download PDFInfo
- Publication number
- CN108100639A CN108100639A CN201711350645.8A CN201711350645A CN108100639A CN 108100639 A CN108100639 A CN 108100639A CN 201711350645 A CN201711350645 A CN 201711350645A CN 108100639 A CN108100639 A CN 108100639A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- gripper
- mobile device
- drive plate
- steel tube
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 34
- 239000010959 steel Substances 0.000 title claims abstract description 34
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mobile devices for possessing and efficiently selecting steel framework steel tube, including pedestal and gripper, the upper surface of the pedestal is fixedly connected with the first manipulator, the one side of first manipulator is equipped with laser scanner, the front end face of first manipulator is equipped with the second drive plate, second drive plate is fixedly connected with the second manipulator, one end of second manipulator is equipped with dimensional code scanner, the both sides of the pedestal are equipped with wheel, the front end of the gripper is arranged to pawl head, the inside of the pedestal is equipped with controller, the one side of the controller is equipped with power supply, the opposite side of the controller is equipped with power set.The movement Prospect of Robot Sorting System is rational in infrastructure, and using scanning laser radar, self-navigation to corresponding target location realizes robot autonomous navigation, saved the space in warehouse, reduces the spending of manpower, reduce cost, add accuracy rate.
Description
Technical field
The present invention relates to steelframe structure selection techniques fields, are specially a kind of mobile dress for possessing and efficiently selecting steel framework steel tube
It puts.
Background technology
With the continuous development of building trade, the pressure of the carrying of building iron framework is also increasing, and traditional manually removes
Fortune has been unable to meet, and is primarily present two problems at present, object is can not achieve during selection to object, most selection is
People is to object or object to people, it is impossible to and it realizes really intelligent, causes efficiency that cannot be greatly improved, it is long during labour cost
After the work of time efficiency is caused to decline, error rate is promoted.
The content of the invention
It is an object of the invention to provide a kind of mobile device for possessing and efficiently selecting steel framework steel tube, to solve the above-mentioned back of the body
The problem of being proposed in scape technology.
To achieve the above object, the present invention provides following technical solution：It is a kind of to possess the shifting for efficiently selecting steel framework steel tube
Dynamic device, including pedestal and gripper, the upper surface of the pedestal is fixedly connected with the first manipulator, first manipulator
One side is equipped with laser scanner, and the front end face of first manipulator is equipped with the second drive plate, and second drive plate is consolidated
Surely the second manipulator is connected with, the first drive plate, second manipulator are provided between second manipulator and gripper
One end dimensional code scanner is installed, the both sides of the pedestal are equipped with wheel, and the front end of the gripper is arranged to pawl head,
The pawl head is rotatably connected to drive link, and the middle part of the gripper is equipped with pressure inductor, the drive link it is another
One end is fixedly connected with hydraulic transmission, and the inside of the pedestal is equipped with controller, and the one side of the controller is equipped with
Power supply, the opposite side of the controller are equipped with power set.
Preferably, second drive plate drives the second manipulator to do reciprocal fortune along the vertical direction of the first manipulator
Dynamic, first drive plate drives gripper to move reciprocatingly along the horizontal direction of the second manipulator.
Preferably, the power supply is electrically connected with a drive plate, the second drive plate, gripper, dimensional code scanner, laser
Scanner, power set and controller.
Preferably, the controller be electrically connected with gripper, dimensional code scanner, laser scanner, the first drive plate,
Second drive plate and power set.
Preferably, the length of first manipulator and the second manipulator is identical.
Preferably, the model Apple Pencil MK0C2 of the pressure inductor.
Preferably, the model DS4208SR of the dimensional code scanner.
Preferably, the model PT-32 of the laser scanner.
Preferably, the threaded engagement trace to match is set in the opposing sidewalls of the pawl head.
Compared with prior art, the beneficial effects of the invention are as follows：This possesses the mobile device for efficiently selecting steel framework steel tube
It is rational in infrastructure, fixed mechanical arm is integrated on omni-directional moving platform, working region can be moved at any time, using laser
Scanning radar scans ambient enviroment, and by being pinpointed on two dimensional surface, self-navigation is greatly carried to corresponding target location
The high work efficiency of selection, brings practical economic benefit for enterprise, realizes independent navigation, saved the sky in warehouse
Between, reduce the spending of manpower, reduce cost, add accuracy rate.
Description of the drawings
Fig. 1 is front view of the present invention；
Fig. 2 is top view of the present invention；
Fig. 3 is top view of the present invention；
Fig. 4 is pedestal sectional view of the present invention；
Fig. 5 is gripper enlarged drawing of the present invention.
In figure：1 first manipulator, 2 second manipulators, 3 first drive plates, 4 grippers, 41 pawl heads, 42 pressure inductors,
43 hydraulic transmissions, 44 drive links, 5 dimensional code scanners, 6 laser scanners, 7 pedestals, 8 wheels, 9 second drive plates, 10
Power supply, 11 controllers, 12 power set.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
, it is necessary to explanation in description of the invention, the orientation of instructions such as term " vertical ", " on ", " under ", " level " or
Person's position relationship is based on orientation shown in the drawings or position relationship, is for only for ease of the description present invention and simplifies description,
Rather than instruction either implies that signified device or element must have specific orientation, with specific azimuth configuration and behaviour
Make, therefore be not considered as limiting the invention.
In description of the invention, it is also necessary to explanation, unless otherwise specific regulation and limitation, term " setting ", " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally
Connection can be mechanical connection or be electrically connected, and can be directly connected to or be connected by intermediary, can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
- 5 are please referred to Fig.1, the present invention provides a kind of technical solution：It is a kind of to possess the mobile dress for efficiently selecting steel framework steel tube
It puts, including pedestal 7 and gripper 4, the upper surface of the pedestal 7 is fixedly connected with the first manipulator 1, first manipulator 1
One side laser scanner 6, the model PT-32 of the laser scanner 6, the front end face of first manipulator 1 are installed
Second drive plate 9 is installed, it is past that the vertical direction of second drive plate 9 along the first manipulator 1 drives the second manipulator 2 to do
Multiple movement, first drive plate 3 drive gripper 4 to move reciprocatingly, accomplish 360 along the horizontal direction of the second manipulator 2
Degree is rotated without dead angle, and second drive plate 9 is fixedly connected with the second manipulator 2, second manipulator 2 and gripper 4 it
Between be provided with the first drive plate 3, one end of second manipulator 2 is equipped with dimensional code scanner 5, the dimensional code scanner
5 model DS4208SR, first manipulator 1 is identical with the length of the second manipulator 2, ensure that the efficient system of device
One, stable structure, the both sides of the pedestal 7 are equipped with wheel 8, and the front end of the gripper 4 is arranged to pawl first 41, the pawl head
The threaded engagement trace to match is set in 41 opposing sidewalls, and the pawl first 41 is rotatably connected to drive link 44, the gripper 4
Middle part pressure inductor 42 is installed, the model Apple Pencil MK0C2 of the pressure inductor 42 are described
The other end of drive link 44 is fixedly connected with hydraulic transmission 43, and the inside of the pedestal 7 is equipped with controller 11, the control
Device 11 processed is electrically connected with gripper 4, dimensional code scanner 5, laser scanner 6, the first drive plate 3, the second drive plate 9 and moves
Power apparatus 12, by 11 Intelligent control robot of controller, efficient quick, the one side of the controller 11 is equipped with power supply 10,
The power supply 10 be electrically connected with a drive plate 3, the second drive plate 9, gripper 4, dimensional code scanner 5, laser scanner 6,
Power set 12 and controller 11, play the role of electric connection, and provide the energy, and the opposite side of the controller 11 is equipped with dynamic
Power apparatus 12.
Operation principle：The platform using omni-directional moving platform, can realize pivot stud and translation from top to bottom, lead to
Crossing laser scanner 6 can realize that 360 ° omni-directional scans, and top is an X, and Y-axis manipulator can planar realize arbitrary point
Movement, the platform among manipulator 4 is for installing grasping mechanism, equipped with pressure inductor 42, energy on gripper 4
Whether enough identification articles capture success, have a dimensional code scanner 5 on one end of the second manipulator 2, for scanning recognition just
True article, in use, by the electrical structure of 11 comprehensive control robot of controller, with laser scanner 6 and Quick Response Code
Scanner 5 realizes the independent navigation of robot for core, starts laser scanner 6 after start, scans ambient enviroment, finds target
Position, self-navigation advance to target location, scan the bar code on shelf, scan successfully, and crawl is put into turnover box, is returned
It is cycled to initial position.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of possess the mobile device for efficiently selecting steel framework steel tube, including pedestal (7) and gripper (4), it is characterised in that：
The upper surface of the pedestal (7) is fixedly connected with the first manipulator (1), and the one side of first manipulator (1) is equipped with laser
Scanner (6), the front end face of first manipulator (1) are equipped with the second drive plate (9), and second drive plate (9) is fixed
The second manipulator (2) is connected with, the first drive plate (3) is provided between second manipulator (2) and gripper (4), it is described
One end of second manipulator (2) is equipped with dimensional code scanner (5), and the both sides of the pedestal (7) are equipped with wheel (8), described
The front end of gripper (4) is arranged to pawl head (41), and the pawl head (41) is rotatably connected to drive link (44), the gripper (4)
Middle part pressure inductor (42) is installed, the other end of the drive link (44) is fixedly connected with hydraulic transmission
(43), the inside of the pedestal (7) is equipped with controller (11), and the one side of the controller (11) is equipped with power supply (10), institute
The opposite side for stating controller (11) is equipped with power set (12).
2. it is according to claim 1 it is a kind of possess efficiently select the mobile device of steel framework steel tube, it is characterised in that：It is described
Second drive plate (9) drives the second manipulator (2) to move reciprocatingly along the vertical direction of the first manipulator (1), and described first
Drive plate (3) drives gripper (4) to move reciprocatingly along the horizontal direction of the second manipulator (2).
3. it is according to claim 1 it is a kind of possess efficiently select the mobile device of steel framework steel tube, it is characterised in that：It is described
Power supply (10) is electrically connected with a drive plate (3), the second drive plate (9), gripper (4), dimensional code scanner (5), laser and sweeps
Retouch device (6), power set (12) and controller (11).
4. it is according to claim 1 it is a kind of possess efficiently select the mobile device of steel framework steel tube, it is characterised in that：It is described
Controller (11) is electrically connected with gripper (4), dimensional code scanner (5), laser scanner (6), the first drive plate (3),
Two drive plates (9) and power set (12).
5. it is according to claim 1 it is a kind of possess efficiently select the mobile device of steel framework steel tube, it is characterised in that：It is described
First manipulator (1) is identical with the length of the second manipulator (2).
6. it is according to claim 1 it is a kind of possess efficiently select the mobile device of steel framework steel tube, it is characterised in that：It is described
The model Apple Pencil MK0C2 of pressure inductor (42).
7. it is according to claim 1 it is a kind of possess efficiently select the mobile device of steel framework steel tube, it is characterised in that：It is described
The model DS4208SR of dimensional code scanner (5).
8. it is according to claim 1 it is a kind of possess efficiently select the mobile device of steel framework steel tube, it is characterised in that：It is described
The model PT-32 of laser scanner (6).
9. it is according to claim 1 it is a kind of possess efficiently select the mobile device of steel framework steel tube, it is characterised in that：It is described
The threaded engagement trace to match is set in the opposing sidewalls of pawl head (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711350645.8A CN108100639A (en) | 2017-12-15 | 2017-12-15 | It is a kind of to possess the mobile device for efficiently selecting steel framework steel tube |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711350645.8A CN108100639A (en) | 2017-12-15 | 2017-12-15 | It is a kind of to possess the mobile device for efficiently selecting steel framework steel tube |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108100639A true CN108100639A (en) | 2018-06-01 |
Family
ID=62216281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711350645.8A Pending CN108100639A (en) | 2017-12-15 | 2017-12-15 | It is a kind of to possess the mobile device for efficiently selecting steel framework steel tube |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108100639A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112008632A (en) * | 2020-09-01 | 2020-12-01 | 重庆交通职业学院 | Industrial circular tube clamp |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5463847A (en) * | 1994-02-08 | 1995-11-07 | Fps Food Processing Systems, Inc. | Robotic egg carton pickup head |
| CN2659842Y (en) * | 2003-11-28 | 2004-12-01 | 肖杰明 | Selection conveyer for material |
| CN101327851A (en) * | 2008-07-22 | 2008-12-24 | 四川科伦药业股份有限公司 | Automatic collecting and arranging machine for plastic soft bottle |
| CN201713598U (en) * | 2010-06-25 | 2011-01-19 | 上海汉虹精密机械有限公司 | Automatic crucible carrying mechanism |
| CN206395455U (en) * | 2017-01-20 | 2017-08-11 | 重庆电子工程职业学院 | A kind of mobile Prospect of Robot Sorting System |
| CN107309700A (en) * | 2017-07-12 | 2017-11-03 | 佛山市夏云智能装备有限公司 | A kind of multi-angle manipulator of the special grabbing workpiece of numerical control machining center |
-
2017
- 2017-12-15 CN CN201711350645.8A patent/CN108100639A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5463847A (en) * | 1994-02-08 | 1995-11-07 | Fps Food Processing Systems, Inc. | Robotic egg carton pickup head |
| CN2659842Y (en) * | 2003-11-28 | 2004-12-01 | 肖杰明 | Selection conveyer for material |
| CN101327851A (en) * | 2008-07-22 | 2008-12-24 | 四川科伦药业股份有限公司 | Automatic collecting and arranging machine for plastic soft bottle |
| CN201713598U (en) * | 2010-06-25 | 2011-01-19 | 上海汉虹精密机械有限公司 | Automatic crucible carrying mechanism |
| CN206395455U (en) * | 2017-01-20 | 2017-08-11 | 重庆电子工程职业学院 | A kind of mobile Prospect of Robot Sorting System |
| CN107309700A (en) * | 2017-07-12 | 2017-11-03 | 佛山市夏云智能装备有限公司 | A kind of multi-angle manipulator of the special grabbing workpiece of numerical control machining center |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112008632A (en) * | 2020-09-01 | 2020-12-01 | 重庆交通职业学院 | Industrial circular tube clamp |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180601 |